CN108445449B - Real-time high-precision positioning method and device for outdoor construction machinery - Google Patents
Real-time high-precision positioning method and device for outdoor construction machinery Download PDFInfo
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- CN108445449B CN108445449B CN201810578222.XA CN201810578222A CN108445449B CN 108445449 B CN108445449 B CN 108445449B CN 201810578222 A CN201810578222 A CN 201810578222A CN 108445449 B CN108445449 B CN 108445449B
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- 238000010276 construction Methods 0.000 title claims abstract description 32
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- 238000006243 chemical reaction Methods 0.000 claims description 9
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- 230000003137 locomotive effect Effects 0.000 abstract 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a real-time high-precision positioning method and a device for outdoor construction machinery, wherein the method comprises the steps of firstly, obtaining positioning coordinates and course angles of reference machinery through a Beidou positioning system; pasting three reflective films at the tail part of a standard mechanical carriage, and calculating coordinates of the three reflective films; a laser diode is arranged at the head of a target locomotive, a vibrating mirror and a scanning mirror are arranged in front of a laser head, and laser is reflected on the scanning mirror, so that the laser can be orthographically emitted to three reflecting films; detecting the intensity of the reflected laser signal by using a PIN photodiode; judging whether laser is perpendicularly emitted to the reflecting films, obtaining the laser emission angle at the moment through voltage and current, and calculating the positioning coordinates of the target machinery according to the emission angle, the coordinates of the reflecting films and the distance between the reflecting films. The invention can realize real-time high-precision positioning of outdoor construction machinery, and obviously reduce positioning cost while ensuring positioning precision.
Description
Technical Field
The invention relates to a real-time high-precision positioning method for outdoor construction machinery, and belongs to the technical field of positioning of construction machinery.
Background
The intelligent management of outdoor construction is higher and higher to the positioning accuracy requirement of construction machinery, and the precision of present high performance positioning system can reach centimeter level, like big dipper positioning system and GPS positioning system, but this kind of high performance positioning system's unit price is high, and need carry out high accuracy real-time localization to a plurality of construction machinery simultaneously in outdoor construction process, if all adopt high performance positioning system on every construction machinery, then cause total cost too high, be unfavorable for promoting. Based on the above, in order to reduce the cost and ensure the positioning accuracy, a scientific and effective real-time high-accuracy positioning method for the outdoor construction machinery is required.
Disclosure of Invention
Technical problems: the invention aims to solve the technical problems of overcoming the current situation that the high-precision positioning cost of the current outdoor construction machinery is too high and realizing the high-precision real-time positioning target of the outdoor construction machinery under lower cost.
The technical scheme is as follows: in order to achieve the above purpose, the invention adopts the following technical scheme:
a real-time high-precision positioning method for outdoor construction machinery comprises the following steps:
(1) And acquiring the positioning coordinates and the course angle of the reference machine. In outdoor construction, the planar positioning needs to be far higher than the elevation positioning, so the technical scheme only considers the planar positioning. The rectangular Gaussian plane coordinate system is selected as a coordinate system, the X axis is the projection of the equator on the elliptic cylindrical surface of the earth, the Y axis is the projection of the central meridian on the elliptic cylindrical surface of the earth, the central meridian is orthogonal to the X axis, and the intersection point is the origin O of the rectangular Gaussian plane coordinate system. According to the actual situation, a construction machine is selected as a reference machine, a set of high-precision Beidou positioning system is installed on the reference machine, a positioning antenna is centrally arranged at the tail part of a carriage of the reference machine, and Gaussian positioning coordinates and heading angles (x) of the positioning antenna are obtained in real time 1 ，y 1 ，α)。
(2) Coordinates of three reflective films on the reference machine were calculated. A reflective film A is stuck at the middle of the tail part of the standard mechanical carriage 1 In a direction perpendicular to the reference mechanical movement direction, in the reflective film A 1 Left side distance L 1 Reflecting film A stuck on the position 2 In the reflective film A 1 Right side distance L 2 Reflecting film A stuck on the position 3 . Three reflective films are of uniform height, wherein A 1 The coordinates of (a) are (x) 1 ，y 1 ) Based on course angles alpha and L 1 Can calculate A 2 Is (x) 2 ，y 2 ) According to course angles alpha and L 2 Can calculate A 3 Is (x) 3 ，y 3 ) The following are provided:
(3) Mounting a laser on a target machine to be positionedThe laser head is consistent with the reflective film on the reference machine in height, and the light beam emitted by the laser diode on the target machine is obtained and is directly emitted to the reflective film A at the tail part of the carriage of the reference machine 2 、A 1 And A 3 The angle between the time and the geographic north direction is recorded as beta 2 、β 1 And beta 3 。
(4) According to the above (x 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 )、L 1 、L 2 、β 2 、β 1 And beta 3 To calculate the real-time positioning coordinates (x, y) of the target machine. Set to orthographically shoot at A 2 Straight line of (1) is l 2 L is 2 The linear equation expression of (2) is:
same principle l 1 The linear equation expression of (2) is:
l 3 the linear equation expression of (2) is:
the unique solution (x, y) can be obtained by combining the three linear equations, and the solution is the coordinate of the target machine.
The invention also discloses a real-time high-precision positioning device of the outdoor construction machine, which is characterized by comprising the following components: the system comprises a Beidou positioning system, three reflecting films, a laser driving circuit, a laser diode, an arbitrary waveform generator, a reference clock source, a voltage/current conversion circuit, a counter, a deflection coil, a galvanometer, a scanning mirror, a PIN photodiode and a singlechip processor;
the Beidou positioning system is arranged on the reference machine, and the positioning antenna is arranged at the central position of the tail part of the carriage of the reference machine; the three light reflecting films are adhered to the tail part of the standard mechanical carriage, the light reflecting surface faces outwards, the installation position of one light reflecting film coincides with the position of the Beidou positioning antenna, the other two light reflecting films are respectively installed on the left side and the right side of one light reflecting film, and the heights of the three light reflecting films are consistent; a laser diode is arranged in the middle of the mechanical headstock of the target to be positioned, and a laser driving circuit is connected with the laser diode and is used for driving the laser diode to emit laser to the reflective film; the laser head of the laser diode is consistent with the height of the reflective film on the reference machine, and a deflection coil, a vibrating mirror and a scanning mirror are arranged in front of the laser head and are connected with each other; the reference clock source is connected with an arbitrary waveform generator, generates triangular wave voltage from the reference clock, converts the triangular wave voltage into current through the voltage/current conversion circuit to control the deflection coil to rotate, drives the vibrating mirror to rotate, realizes the back and forth swinging of the scanning mirror, and changes the laser emission angle; the PIN photodiode is connected with the singlechip processor and is used for detecting the intensity of the laser signal reflected by the reflecting film and transmitting data to the singlechip; the counter counts the reference clock and transmits the data to the singlechip; the single chip microcomputer calculates the positioning coordinates of the target machinery by utilizing the deflection angle of the scanning mirror, the coordinates of the reflecting films and the distance between the reflecting films when the laser is perpendicularly shot on the reflecting films.
The beneficial effects are that: the invention provides a real-time high-precision positioning method for outdoor construction machinery, which has the advantages that only one set of high-precision positioning system is needed in the whole positioning system, so that the overall positioning cost is greatly reduced. The positioning device has a simple structure and is easy to realize and operate.
Drawings
FIG. 1 is a schematic diagram of the process of the present invention.
Fig. 2 is a schematic diagram of the operation of the positioning device.
Fig. 3 is a diagram of a laser diode driving circuit.
FIG. 4 is a schematic diagram of a positioning model according to the present invention.
FIG. 4A 1 、A 2 、A 3 The three points of the tail height of the standard mechanical carriage are stuck with a reflective film on the surface, A 1 The Beidou positioning system positioning antenna is placed at the position, alpha is the reference mechanical driving course angle, L 1 And L 2 Respectively A 1 A 2 And A 1 A 3 Distance between A 4 For the position beta of the laser diode of the target mechanical head 2 、β 1 And beta 3 Respectively, the laser is orthographically emitted to the reflective film A 2 、A 1 And A 3 Included angle during the process.
Detailed Description
As shown in fig. 2, the real-time high-precision positioning device for an outdoor construction machine according to the present embodiment includes: the system comprises a Beidou positioning system (not shown in the figure), three reflecting films (not shown in the figure), a laser driving circuit, a laser diode, an arbitrary waveform generator, a reference clock source, a voltage/current conversion circuit, a counter, a deflection coil, a vibrating mirror, a scanning mirror, a PIN photodiode and a singlechip processor.
And selecting a construction machine as a reference machine, and installing a Beidou positioning system on the reference machine, wherein a positioning antenna is installed at the central position of the tail part of a carriage of the reference machine. And three reflective films are adhered to the tail part of the standard mechanical carriage, the reflective surfaces face outwards, one reflective film installation position coincides with the Beidou positioning antenna position, the other two reflective films are respectively installed on the left side and the right side of one reflective film, and the heights of the three reflective films are consistent.
The middle part of the headstock of the construction machine to be positioned is fixedly provided with a laser diode, and a laser driving circuit is connected with the laser diode and is used for driving the laser diode to emit laser to the reflecting film. The height of the laser head is consistent with that of the reflective film on the reference machine. A deflection coil, a vibrating mirror and a scanning mirror are arranged in front of the laser head. The reference clock source is connected with an arbitrary waveform generator, the reference clock is used for generating triangular wave voltage, the triangular wave voltage is converted into current through the voltage/current conversion circuit, the deflection coil is controlled to rotate, the deflection coil drives the vibrating mirror to rotate, the vibrating mirror drives the scanning mirror to continuously swing back and forth, and laser irradiates the scanning mirror to reflect, so that the continuous swing of the scanning mirror realizes continuous change of the laser emission angle. The PIN photodiode is connected with the singlechip processor and is used for detecting the laser signal intensity reflected by the reflecting film and transmitting data to the singlechip. When the laser is perpendicularly emitted onto the reflective film, the intensity of the reflected laser is strongest. The single chip microcomputer compares the intensity of the reflected laser signal with a set signal intensity threshold value, and when the intensity exceeds the threshold value, the laser is judged to be orthographically irradiated on the reflective film. The counter is used for counting the reference clock and transmitting the data to the singlechip, so that the singlechip can obtain the voltage and current and obtain the deflection angle of the deflection coil, namely the deflection angle of the scanning mirror. The single chip microcomputer can calculate the positioning coordinates of the target machinery according to the relation among coordinates by utilizing the deflection angle of the scanning mirror, the coordinates of the reflecting films and the distance between the reflecting films when the laser is perpendicularly shot on the reflecting films. The device is also provided with a signal amplification and arrangement circuit which is connected between the PIN photodiode and the singlechip processor and is used for carrying out signal amplification and adjustment on the output of the PIN photodiode.
Fig. 1 shows a flow chart for implementing a real-time high-precision positioning method of an outdoor construction machine, which comprises the following steps:
step1, datum mechanical positioning
A set of high-precision Beidou positioning system is arranged on a reference machine, a positioning antenna is centered at the tail of a carriage of the reference machine, positioning information and course angle of the point are acquired in real time through the Beidou positioning system, and the positioning information is converted into coordinates in a Gaussian coordinate system, so that the coordinates and the course angle (x) of the point are obtained 1 ，y 1 ，α)。
Step2, calculating coordinates of the reflective film
Reflective film A is arranged at the tail positioning antenna position of the standard mechanical carriage 1 In a direction perpendicular to the reference mechanical movement direction, in the reflective film A 1 Left side distance L 1 Reflecting light adhered on the positionFilm A 2 In the reflective film A 1 Right side distance L 2 Reflecting film A stuck on the position 3 The heights of the three reflective films are kept consistent. Wherein A is 1 The coordinates of (a) are (x) 1 ，y 1 ) Based on course angles alpha and L 1 Can calculate A 2 Is (x) 2 ，y 2 ) According to course angles alpha and L 2 Can calculate A 3 Is (x) 3 ，y 3 ) The calculation formula is as follows, and thus the real-time coordinates of three reflective films can be obtained.
Step3, obtaining the laser emission azimuth angle
The principle of this part is shown in figure 2.
A human eye safety laser diode is arranged in the middle of the machine headstock of the target to be positioned, the position is marked as A4, the height of a laser head is kept basically consistent with that of a reflecting film on a reference machine, and a laser driving circuit is used for providing power to enable the laser diode to emit laser; a deflection coil, a vibrating mirror and a scanning mirror are arranged in front of a laser head, a reference clock is arranged, the reference clock is input into an arbitrary waveform generator to continuously generate triangular wave voltage, then current is formed through a voltage/current conversion process, the deflection coil is controlled to rotate to drive the vibrating mirror to rotate, so that the scanning mirror can swing back and forth, laser is emitted to the scanning mirror to be reflected, and the laser is emitted out in different angles through the back and forth swing of the scanning mirror; and meanwhile, the reference clock is sent to the counter, the counter is automatically increased by 1 when one voltage pulse occurs, and the counter sends the result to the singlechip processor. Meanwhile, the intensity of returned laser signals is detected through the PIN photodiode, the signals are amplified and tidied and then sent to the singlechip processor, when laser is perpendicularly shot on the reflective film, the laser returns along an original path, at the moment, the light radiation signals absorbed by the PIN photodiode are strongest, a signal intensity threshold is set, when the returned light radiation signal intensity exceeds the threshold, the laser is regarded as being perpendicularly shot on the reflective film, at the moment, the singlechip processor reads a counter result, the voltage at the moment is obtained, the current after conversion can be obtained according to the voltage, and therefore the deflection angle of the deflection coil and the scanning mirror is known, and the deflection angle is taken as an emission angle beta. In the present embodiment, since three reflective films are attached to the reference machine, theoretically, three emission angles β2, β1, and β3 can be recorded in one rotation period.
Step4, calculating the mechanical position coordinates of the target
The position coordinate calculation model is shown in fig. 4.
Setting the laser at an angle beta 2 To the reflective film A 2 On the straight line A 2 A 4 The equation can be expressed as:
similarly, straight line A 1 A 4 The equation expression of (2) is:
straight line A 3 A 4 The equation expression of (2) is:
the unique solution (x, y) can be obtained by combining the three linear equations, and the solution is the target machine A 4 Is defined by the coordinates of (a).
The positioning coordinate calculation process is completed by a singlechip processor.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (8)
1. A real-time high-precision positioning method for outdoor construction machinery is characterized in that: the method comprises the following steps:
firstly, acquiring positioning coordinates and course angles of a reference machine:
a Gaussian plane rectangular coordinate system is selected as a coordinate system, a construction machine is used as a reference machine, a set of high-precision Beidou positioning system is installed on the reference machine, a positioning antenna is centered at the tail of a carriage of the reference machine, and Gaussian positioning coordinates and heading angles (x) of the positioning antenna are obtained in real time 1 ，y 1 ，α)；
(II) calculating coordinates of three reflective films on a reference machine:
a reflective film A is stuck at the middle of the tail part of the standard mechanical carriage 1 In a direction perpendicular to the reference mechanical movement direction, in the reflective film A 1 Left side distance L 1 Reflecting film A stuck on the position 2 In the reflective film A 1 Right side distance L 2 Reflecting film A stuck on the position 3 The method comprises the steps of carrying out a first treatment on the surface of the Three reflective films are of uniform height, wherein A 1 The coordinates of (a) are (x) 1 ，y 1 ) Based on course angles alpha and L 1 Calculation of A 2 Is (x) 2 ，y 2 ) According to course angles alpha and L 2 Calculation of A 3 Is (x) 3 ，y 3 ) The following are provided:
installing a laser diode on a target machine to be positioned, wherein the laser head is consistent with the reflective film on the reference machine in height, and acquiring the light beam emitted by the laser diode to be orthographically emitted to the reflective film A at the tail part of the carriage of the reference machine 2 、A 1 And A 3 The angle between the time and the geographic north direction is recorded as beta 2 、β 1 And beta 3 ；
(IV) according to the above(x 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 )、L 1 、L 2 、β 2 、β 1 And beta 3 To calculate the real-time positioning coordinates (x, y) of the target machine:
set to orthographically shoot at A 2 Straight line of (1) is l 2 L is 2 The linear equation expression of (2) is:
same principle l 1 The linear equation expression of (2) is:
l 3 the linear equation expression of (2) is:
the three linear equations are combined to obtain a unique solution (x, y), and the solution is the coordinate of the target machine
2. The outdoor construction machine real-time high-precision positioning method according to claim 1, characterized by comprising the steps of: in the step (III), the laser emission angle is changed by continuously swinging the scanning mirror back and forth.
3. The outdoor construction machine real-time high-precision positioning method according to claim 2, characterized by comprising the steps of: the deflection coil is utilized to drive the vibrating mirror to rotate, and the vibrating mirror rotates to drive the scanning mirror to continuously swing back and forth.
4. The outdoor construction machine real-time high-precision positioning method according to claim 3, wherein: setting a reference clock, inputting the reference clock into an arbitrary waveform generator to continuously generate triangular wave voltage, and then converting the voltage into current through voltage/current conversion to control the deflection coil to rotate.
5. The outdoor construction machine real-time high-precision positioning method according to claim 4, wherein the method comprises the following steps: when the laser is perpendicularly emitted to the reflective film, the deflection angle of the deflection coil is obtained by controlling the current value of the rotation of the deflection coil, and the deflection angle is the emission angle of the laser.
6. The outdoor construction machine real-time high-precision positioning method according to claim 1, characterized by comprising the steps of: in the step (III), the returned laser signal intensity is detected through the PIN photodiode, and the returned laser signal intensity is compared with a set signal intensity threshold value to judge whether the laser is perpendicularly shot on the reflective film.
7. The utility model provides an outdoor construction machinery real-time high accuracy positioner which characterized in that includes: the system comprises a Beidou positioning system, three reflecting films, a laser driving circuit, a laser diode, an arbitrary waveform generator, a reference clock source, a voltage/current conversion circuit, a counter, a deflection coil, a galvanometer, a scanning mirror, a PIN photodiode and a singlechip processor;
the Beidou positioning system is arranged on the reference machine, and the positioning antenna is arranged at the central position of the tail part of the carriage of the reference machine; the three light reflecting films are adhered to the tail part of the standard mechanical carriage, the light reflecting surface faces outwards, the installation position of one light reflecting film coincides with the position of the Beidou positioning antenna, the other two light reflecting films are respectively installed on the left side and the right side of one light reflecting film, and the heights of the three light reflecting films are consistent; a laser diode is arranged in the middle of the mechanical headstock of the target to be positioned, and a laser driving circuit is connected with the laser diode and is used for driving the laser diode to emit laser to the reflective film; the laser head of the laser diode is consistent with the height of the reflective film on the reference machine, and a deflection coil, a vibrating mirror and a scanning mirror are arranged in front of the laser head and are connected with each other; the reference clock source is connected with an arbitrary waveform generator, generates triangular wave voltage from the reference clock, converts the triangular wave voltage into current through the voltage/current conversion circuit to control the deflection coil to rotate, drives the vibrating mirror to rotate, realizes the back and forth swinging of the scanning mirror, and changes the laser emission angle; the PIN photodiode is connected with the singlechip processor and is used for detecting the intensity of the laser signal reflected by the reflecting film and transmitting data to the singlechip; the counter counts the reference clock and transmits the data to the singlechip; the single chip microcomputer calculates the positioning coordinates of the target machine based on the method as claimed in claim 1 by utilizing the deflection angle of the scanning mirror, the coordinates of the reflecting films and the distance between the reflecting films when the laser is perpendicularly irradiated onto the reflecting films.
8. The real-time high-precision positioning device of outdoor construction machinery according to claim 7, further comprising a signal amplification and arrangement circuit connected between the PIN photodiode and the singlechip processor for signal conditioning of the output of the PIN photodiode.
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| CN110954911B (en) * | 2019-11-29 | 2023-03-24 | 青岛港国际股份有限公司 | Automatic guided vehicle positioning device and positioning method |
| CN111830969B (en) * | 2020-06-12 | 2024-03-26 | 北京布科思科技有限公司 | Fusion butt joint method based on reflecting plate and two-dimensional code |
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